lin-epics-modules/motorBase
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- Converted from MPF to asyn.

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- Removed unused <driver>Setup() argument.
This commit is contained in:
Ron Sluiter
2004-07-16 19:40:25 +00:00
parent f022133039
commit c7ec3f7e06
3 changed files with 44 additions and 107 deletions
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motorApp/PiSrc/PiRegister.cc
+12 -16
View File
@@ -2,9 +2,9 @@
FILENAME... PiRegister.cc
USAGE... Register IMS motor device driver shell commands.
Version: $Revision: 1.1 $
Version: $Revision: 1.2 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-01-07 15:00:06 $
Last Modified: $Date: 2004-07-16 19:38:22 $
*/
/*****************************************************************
@@ -32,32 +32,28 @@ extern "C"
// Pi Setup arguments
static const iocshArg setupArg0 = {"Max. controller count", iocshArgInt};
static const iocshArg setupArg1 = {"N/A", iocshArgInt};
static const iocshArg setupArg2 = {"Polling rate", iocshArgInt};
static const iocshArg setupArg1 = {"Polling rate", iocshArgInt};
// Pi Config arguments
static const iocshArg configArg0 = {"Card being configured", iocshArgInt};
static const iocshArg configArg1 = {"N/A - always RS232_PORT", iocshArgInt};
static const iocshArg configArg2 = {"MPF server location", iocshArgInt};
static const iocshArg configArg3 = {"MPF server task name", iocshArgString};
static const iocshArg configArg1 = {"asyn port name", iocshArgString};
static const iocshArg configArg2 = {"asyn address (GPIB)", iocshArgInt};
static const iocshArg * const PIC844SetupArgs[2] = {&setupArg0, &setupArg1};
static const iocshArg * const PIC844ConfigArgs[3] = {&configArg0, &configArg1,
&configArg2};
static const iocshArg * const PIC844SetupArgs[3] = {&setupArg0, &setupArg1,
&setupArg2};
static const iocshArg * const PIC844ConfigArgs[4] = {&configArg0, &configArg1,
&configArg2, &configArg3};
static const iocshFuncDef setupPIC844 = {"PIC844Setup", 3, PIC844SetupArgs};
static const iocshFuncDef configPIC844 = {"PIC844Config", 4, PIC844ConfigArgs};
static const iocshFuncDef setupPIC844 = {"PIC844Setup", 2, PIC844SetupArgs};
static const iocshFuncDef configPIC844 = {"PIC844Config", 3, PIC844ConfigArgs};
static void setupPIC844CallFunc(const iocshArgBuf *args)
{
PIC844Setup(args[0].ival, args[1].ival, args[2].ival);
PIC844Setup(args[0].ival, args[1].ival);
}
static void configPIC844CallFunc(const iocshArgBuf *args)
{
PIC844Config(args[0].ival, args[1].ival, args[2].ival, args[3].sval);
PIC844Config(args[0].ival, args[1].sval, args[2].ival);
}
motorApp/PiSrc/drvPI.h
+11 -15
View File
@@ -3,9 +3,9 @@ FILENAME... drvPI.h
USAGE... This file contains driver "include" information that is specific to
Physik Instrumente (PI) GmbH & Co. motor controller driver support.
Version: $Revision: 1.1 $
Version: $Revision: 1.2 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-01-07 15:00:07 $
Last Modified: $Date: 2004-07-16 19:38:52 $
*/
/*
@@ -38,6 +38,7 @@ Last Modified: $Date: 2004-01-07 15:00:07 $
* Modification Log:
* -----------------
* .01 12/17/03 rls - copied from drvIM483.h
* .02 07/12/04 rls - Converted from MPF to asyn.
*/
#ifndef INCdrvPIh
@@ -45,22 +46,17 @@ Last Modified: $Date: 2004-01-07 15:00:07 $
#include "motor.h"
#include "motordrvCom.h"
#include "serialIO.h"
#define GPIB_TIMEOUT 2000 /* Command timeout in msec */
#define SERIAL_TIMEOUT 5000 /* Command timeout in msec */
#include "asynDriver.h"
#include "asynSyncIO.h"
#define COMM_TIMEOUT 2 /* Timeout in seconds. */
/* PIC844 specific data is stored in this structure. */
struct PIC844controller
{
int port_type; /* GPIB_PORT or RS232_PORT */
serialIO *serialInfo; /* For RS-232 */
int gpib_link;
int gpib_address;
struct gpibInfo *gpibInfo; /* For GPIB */
int serial_card; /* Card on which Hideos is running */
char serial_task[20]; /* Hideos task name for serial port */
asynUser *pasynUser; /* For RS-232 */
int asyn_address; /* Use for GPIB or other address with asyn */
char asyn_port[80]; /* asyn port name */
CommStatus status; /* Controller communication status. */
};
@@ -110,8 +106,8 @@ typedef union
} C844_Cond_Reg;
/* Function prototypes. */
extern RTN_STATUS PIC844Setup(int, int, int);
extern RTN_STATUS PIC844Config(int, int, int, const char *);
extern RTN_STATUS PIC844Setup(int, int);
extern RTN_STATUS PIC844Config(int, const char *, int);
#endif /* INCdrvPIh */
motorApp/PiSrc/drvPIC844.cc
+21 -76
View File
@@ -3,9 +3,9 @@ FILENAME... drvPIC844.cc
USAGE... Motor record driver level support for Physik Instrumente (PI)
GmbH & Co. C-844 motor controller.
Version: $Revision: 1.4 $
Version: $Revision: 1.5 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-03-16 15:18:27 $
Last Modified: $Date: 2004-07-16 19:40:25 $
*/
/*
@@ -37,6 +37,7 @@ Last Modified: $Date: 2004-03-16 15:18:27 $
* -----------------
* .01 12/17/03 rls - copied from drvIM483PL.cc
* .02 02/03/04 rls - Eliminate erroneous "Motor motion timeout ERROR".
* .03 07/12/04 rls - Converted from MPF to asyn.
*/
/*
@@ -53,7 +54,6 @@ DESIGN LIMITATIONS...
#include <drvSup.h>
#include "motor.h"
#include "drvPI.h"
#include "serialIO.h"
#include "epicsExport.h"
#define GET_IDENT "*IDN?"
@@ -149,19 +149,8 @@ static long report(int level)
struct PIC844controller *cntrl;
cntrl = (struct PIC844controller *) brdptr->DevicePrivate;
switch (cntrl->port_type)
{
case RS232_PORT:
printf(" PIC844 controller %d port type = RS-232, id: %s \n",
card,
brdptr->ident);
break;
default:
printf(" PIC844 controller %d port type = Unknown, id: %s \n",
card,
brdptr->ident);
break;
}
printf(" PIC844 controller #%d, port=%s, id: %s \n", card,
cntrl->asyn_port, brdptr->ident);
}
}
}
@@ -439,11 +428,8 @@ static RTN_STATUS send_mess(int card, char const *com, char inchar)
Debug(2, "send_mess(): message = %s\n", local_buff);
cntrl = (struct PIC844controller *) motor_state[card]->DevicePrivate;
if (cntrl->port_type == GPIB_PORT)
;
// gpibIOSend(cntrl->gpibInfo, local_buff, strlen(local_buff), GPIB_TIMEOUT);
else
cntrl->serialInfo->serialIOSend(local_buff, strlen(local_buff), SERIAL_TIMEOUT);
pasynSyncIO->write(cntrl->pasynUser, local_buff, strlen(local_buff),
COMM_TIMEOUT);
return(OK);
}
@@ -456,6 +442,7 @@ static RTN_STATUS send_mess(int card, char const *com, char inchar)
static int recv_mess(int card, char *com, int flag)
{
struct PIC844controller *cntrl;
int flush = 0;
int timeout;
int len=0;
@@ -468,21 +455,10 @@ static int recv_mess(int card, char *com, int flag)
if (flag == FLUSH)
timeout = 0;
else
timeout = SERIAL_TIMEOUT;
timeout = COMM_TIMEOUT;
switch (cntrl->port_type)
{
case GPIB_PORT:
if (flag != FLUSH)
timeout = GPIB_TIMEOUT;
// len = gpibIORecv(cntrl->gpibInfo, com, BUFF_SIZE, (char *) "\n", timeout);
break;
case RS232_PORT:
if (flag != FLUSH)
timeout = SERIAL_TIMEOUT;
len = cntrl->serialInfo->serialIORecv(com, BUFF_SIZE, (char *) "\n", timeout);
break;
}
len = pasynSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE, (char *) "\n",
1, flush, timeout);
if (len == 0)
com[0] = '\0';
@@ -503,7 +479,6 @@ static int recv_mess(int card, char *com, int flag)
/*****************************************************/
RTN_STATUS
PIC844Setup(int num_cards, /* maximum number of controllers in system. */
int num_channels, /* NOT Used. */
int scan_rate) /* polling rate - 1/60 sec units. */
{
int itera;
@@ -540,10 +515,9 @@ PIC844Setup(int num_cards, /* maximum number of controllers in system. */
/* PIC844Config() */
/*****************************************************/
RTN_STATUS
PIC844Config(int card, /* card being configured */
int port_type, /* GPIB_PORT or RS232_PORT */
int location, /* MPF server location */
const char *name) /* MPF server task name */
PIC844Config(int card, /* card being configured */
const char *name, /* asyn port name */
int addr) /* asyn address (GPIB) */
{
struct PIC844controller *cntrl;
@@ -554,23 +528,8 @@ PIC844Config(int card, /* card being configured */
motor_state[card]->DevicePrivate = malloc(sizeof(struct PIC844controller));
cntrl = (struct PIC844controller *) motor_state[card]->DevicePrivate;
switch (port_type)
{
/*
case GPIB_PORT:
cntrl->port_type = port_type;
cntrl->gpib_link = location;
cntrl->gpib_address = addr2;
break;
*/
case RS232_PORT:
cntrl->port_type = port_type;
cntrl->serial_card = location;
strcpy(cntrl->serial_task, name);
break;
default:
return (ERROR);
}
strcpy(cntrl->asyn_port, name);
cntrl->asyn_address = addr;
return(OK);
}
@@ -589,7 +548,7 @@ static int motor_init()
char buff[BUFF_SIZE];
int total_axis;
int status;
bool success_rtn;
asynStatus success_rtn;
initialized = true; /* Indicate that driver is initialized. */
@@ -609,24 +568,10 @@ static int motor_init()
cntrl = (struct PIC844controller *) brdptr->DevicePrivate;
/* Initialize communications channel */
success_rtn = false;
switch (cntrl->port_type)
{
/*
case GPIB_PORT:
cntrl->gpibInfo = gpibIOInit(cntrl->gpib_link,
cntrl->gpib_address);
if (cntrl->gpibInfo == NULL)
success_rtn = true;
break;
*/
case RS232_PORT:
cntrl->serialInfo = new serialIO(cntrl->serial_card,
cntrl->serial_task, &success_rtn);
break;
}
success_rtn = pasynSyncIO->connect(cntrl->asyn_port,
cntrl->asyn_address, &cntrl->pasynUser);
if (success_rtn == true)
if (success_rtn == asynSuccess)
{
/* Send a message to the board, see if it exists */
/* flush any junk at input port - should not be any data available */
@@ -638,7 +583,7 @@ static int motor_init()
status = recv_mess(card_index, buff, 1);
}
if (success_rtn == true && status > 0)
if (success_rtn == asynSuccess && status > 0)
{
strcpy(brdptr->ident, &buff[0]);
brdptr->localaddr = (char *) NULL;